Fixed-Time Output Feedback Consensus for Multi-agent Systems with Input Saturation and Uncertain Disturbance

chinese control conference(2021)

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摘要
This paper investigates the anti-saturation fixed-time output feedback consensus problem for second-order multi-agent with uncertainty disturbance. First, a distrbutrd extend state fixed time observer is designed based on the idea of extended state and fixed-time convergence. Then, by combing fixed-time control technique and bi-limit homogeneous systems theory, a novel distributed fixed-time consensus controllers with input saturation are developed for leaderless multi-agent systems. This algorithm can effectively compensate the system’s uncertain disturbance without velocity measurement. At the same time, the proposed algorithm achieve fixed-time consensus with input saturation. A numerical simulation example is include to show the efficacy and the performance of the proposed algorithm.
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